Algorithmic control for real-time optimization of constrained nonlinear systems: swing-up problems of inverted pendulums. - Joe Imae; Kazutaka Yoshimizu; Tomoaki Kobayashi; Guisheng Zhai (CCA, 2005)

Algorithmic control for real-time optimization of nonlinear systems: Simulations and experiments. - Joe Imae; Kazutaka Yoshimizu; Tomoaki Kobayashi; Guisheng Zhai (CDC/ECC, 2005)